The objectives of the research presented in this thesis were to design a novel long (more than 100 cm) and thin (less than 1 cm diameter) continuum robotic cable suitable for NASA’s needs, the construction of its fi rst prototype and it’s actuation assembly and finally validating a new kinematic model derived to predict its performance in both planar and spatial work-space operation.
The actuation assembly consists of nine RC servos, nine encoders and an Arduino microcontroller.
the results of the new 2D and 3D kinematic formulations for determining continuum (shape) variables are validated by implementing them in in MATLAB , once using the model (linear and polynomial regression respectively) generated shape variables and then with shape variables extracted from the experimental data. Note that the model generated shape variables were functional approximations of the encoder inputs only. The same procedure was repeated for the forward kinematic equations for 2D and 3D workspace.